Cantilever crane and robot

Abstract

The utility model provides a cantilever crane and a robot, the robot comprises a vehicle body and the cantilever crane, the cantilever crane comprises a cross beam, a first wheel and a second wheel, a connecting piece of the cantilever crane is detachably connected to the side wall of the vehicle body through a fastener, and the first wheel is rotatably mounted below the second end of the cross beam; the second wheel comprises a first wheel shaft and is rotatably mounted below the middle section of the cross beam, the second wheel is in transmission connection with a driving wheel of the vehicle body through a chain, and the driving wheel is driven by a motor to drive the arm frame and the vehicle body to move between the photovoltaic modules. The method has the advantages that the robot is prevented from being manually moved, and the labor cost and the time cost are saved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of photovoltaic cleaning, in particular to an arm support and a robot. BACKGROUND

[0002] As a renewable clean energy, solar photovoltaic has become an important force in today's global energy revolution. The surface of solar cell panels is prone to accumulate dirt such as wind sand and dust. If not cleaned in a timely and scientific manner, it can cause the power generation of the components to attenuate by 40% to 60%, and the power generation to decrease by 20% to 30%. Therefore, the concept of scientifically cleaning solar cell panels and carefully maintaining the components to improve power plant power generation and efficiency is recognized by the industry.

[0003] However, the traditional cleaning method requires a lot of manpower and resources, and has low cleaning efficiency, high water consumption, and high comprehensive cost. In addition, large ground power stations established in western regions need to be cleaned frequently and conveniently, and it is not very realistic to clean photovoltaic components by manpower.

[0004] The existing photovoltaic component cleaning robot often cannot pass normally due to the obstacle problem of the settlement, misplacement and difference of the photovoltaic components, has low cleaning efficiency, and cannot effectively solve the cleaning problem of the photovoltaic components, which seriously affects the power generation efficiency of the photovoltaic components. CONTENT OF THE INVENTION

[0005] The present application provides an arm support and a robot to solve the problem that the robot cannot autonomously cross when there is a space between the photovoltaic components.

[0006] The present application provides an arm support, which comprises a crossbeam, a first wheel and a second wheel.

[0007] The first end of the crossbeam is provided with a connecting piece; the first wheel is rotatably installed below the second end of the crossbeam; the second wheel comprises a first axle and is rotatably installed below the middle segment of the crossbeam; the central axis of the second wheel is parallel to the central axis of the first wheel.

[0008] Further, the arm support further comprises a first side wheel set, the first side wheel set comprises a second crossbeam and at least one first side wheel, the second crossbeam is detachably connected to the crossbeam; the second crossbeam is located below one side of the crossbeam, the extension direction of the second crossbeam is consistent with that of the crossbeam; the first side wheel is rotatably installed below the second crossbeam; the central axis of the first side wheel is perpendicular to the central axis of the first wheel.

[0009] The application provides a robot, comprising an arm support and a vehicle body, the vehicle body is long strip-shaped, comprising two long sides and two short sides, a first mounting plate and a second mounting plate are arranged on the two short sides respectively; the connecting piece of the arm support is detachably connected to the side wall of the vehicle body through fasteners.

[0010] Further, the robot further comprises at least one sensor and a rolling brush, the sensor is distributed on the bottom of the vehicle body, the rolling brush comprises a transmission shaft and a first gear, one end of the transmission shaft penetrates through the first mounting plate and extends to the side of the first mounting plate away from the second mounting plate, the other end of the transmission shaft penetrates through the second mounting plate and extends to the side of the second mounting plate away from the first mounting plate; the first gear is arranged on the side of the first mounting plate away from the second mounting plate and is fixed to the transmission shaft.

[0011] Further, the vehicle body comprises a long strip plate, a rectangular frame and at least one solar panel, the solar panel and the long strip plate are mounted to the top of the rectangular frame, an electric control box is mounted on the long strip plate, the electric control box is fixedly connected between the rectangular frames, and the top of the electric control box protrudes from the long strip plate.

[0012] Further, the robot further comprises a first power mechanism, the first power mechanism is mounted to the side of the first mounting plate, and the first power mechanism comprises a first driving wheel, a first wheel motor, a second gear, a third gear, a fourth gear and a first chain.

[0013] The first driving wheel is rotatably mounted to the side of the first mounting plate facing the second mounting plate; the first driving wheel comprises a second wheel shaft penetrating through the first mounting plate and extending to the side of the first mounting plate away from the second mounting plate; the running direction of the first driving wheel is perpendicular to the extension direction of the robot; the first wheel motor is mounted to the side of the first mounting plate facing the second mounting plate; the wheel motor comprises a first power output shaft penetrating through the first mounting plate and extending to the side of the first mounting plate away from the second mounting plate; the second gear is arranged on the side of the first mounting plate away from the second mounting plate and is fixed to the second wheel shaft; the third gear is arranged on the side of the first mounting plate away from the second mounting plate and is fixed to the first power output shaft; the fourth gear is arranged on the side of the first mounting plate away from the second mounting plate and is fixed to the first power output shaft, the third gear is arranged between the fourth gear and the first mounting plate, the fourth gear and the first gear are in meshing relationship; the first chain is sleeved to the second gear and the third gear and is in meshing relationship with the second gear and the third gear.

[0014] Further, the robot further comprises a second power mechanism, the second power mechanism is mounted to one side of the second mounting plate, the second power mechanism comprises a second driving wheel, a second wheel motor, a second gear, a third gear and a first chain.

[0015] The second driving wheel is rotatably mounted to one side of the second mounting plate facing the first mounting plate; the second driving wheel comprises a third axle, which penetrates through the second mounting plate and extends to the side of the second mounting plate away from the first mounting plate; the running direction of the second driving wheel is perpendicular to the extension direction of the robot; the second wheel motor is mounted to one side of the second mounting plate facing the first mounting plate; the second wheel motor comprises a second power output shaft, which penetrates through the second mounting plate and extends to the side of the second mounting plate away from the first mounting plate; the second gear is arranged on the side of the second mounting plate away from the first mounting plate and fixed to the third axle; the third gear is arranged on the side of the second mounting plate away from the first mounting plate and fixed to the second power output shaft; the first chain is sleeved on the second gear and the third gear and engaged with the second gear and the third gear.

[0016] Further, the robot further comprises a fifth gear, a sixth gear, a second chain and a second side wheel set. The fifth gear is arranged on one end of the second axle away from the first mounting plate and fixed to the second axle; the sixth gear is arranged on one end of the first axle away from the first mounting plate and fixed to the first axle; the second chain is sleeved on the fifth gear and the sixth gear and engaged with the fifth gear and the sixth gear; the second side wheel set comprises two second side wheels, which are fixed to the bottom of the first power mechanism, and the central axis of the second side wheels is perpendicular to the central axis of the first driving wheel.

[0017] Further, the robot further comprises a fifth gear, a sixth gear, a second chain and a third side wheel. The fifth gear is arranged on one end of the third axle away from the second mounting plate and fixed to the third axle; the sixth gear is arranged on one end of the first axle away from the second mounting plate and fixed to the first axle; the second chain is sleeved on the fifth gear and the sixth gear and engaged with the fifth gear and the sixth gear; the third side wheel is fixed to the bottom of the second power mechanism, and the central axis of the third side wheel is perpendicular to the central axis of the first driving wheel.

[0018] Further, the robot further comprises a driven wheel mounted to the bottom of the vehicle body and arranged in the middle of the vehicle body.

[0019] Compared with the prior art, the application has at least the following technical effects:

[0020] The application provides an arm support and a robot, the robot comprising a vehicle body and an arm support, the arm support comprising a cross beam, a first wheel and a second wheel, a connecting piece of the arm support being detachably connected to a side wall of the vehicle body through a fastener, the first wheel being rotatably installed below a second end of the cross beam; the second wheel comprising a first axle, being rotatably installed below a middle section of the cross beam, the second wheel being connected to a driving wheel of the vehicle body through a chain transmission, the driving wheel being driven by a motor to drive the arm support and the vehicle body to move between photovoltaic modules, when the robot needs to cross between two photovoltaic modules, the first wheel set on the arm support will first cross an obstacle to provide a force point from one photovoltaic module to another photovoltaic module, when the first wheel set crosses the obstacle to reach another photovoltaic module, the second wheel and the driving wheel provide power for forward movement to drive the robot to autonomously cross the photovoltaic modules with a spacing space, avoiding manual movement of the robot and saving labor cost and time cost. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the application, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description only constitute some embodiments of the application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0022] Figure 1 is an assembly schematic diagram of the robot and the photovoltaic module described in the embodiments of the application;

[0023] Figure 2 is a schematic diagram of the overall structure of the robot described in the embodiments of the application Figure One ;

[0024] Figure 3 is a schematic diagram of the overall structure of the robot described in the embodiments of the application Figure Two ;

[0025] Figure 4 is a schematic diagram of the partial structure of the robot described in the embodiments of the application Figure One ;

[0026] Figure 5 is a schematic diagram of the partial structure of the robot described in the embodiments of the application Figure Two ;

[0027] Figure 6 is a schematic diagram of the partial structure of the robot described in the embodiments of the application Figure Three ;

[0028] Figure 7Figure 1 is a schematic diagram of a robot structure according to an embodiment of the present application Figure Four ;

[0029] Figure 8 Figure 2 is a schematic diagram of a robot structure according to an embodiment of the present application Figure Five .

[0030] Legend of reference signs:

[0031] 100 robot

[0032] 200 arm support, 201 crossbeam, 202 first wheel, 203 second wheel, 204 connecting piece, 205 first end of crossbeam, 206 second end of crossbeam, 207 first axle, 208 fastener

[0033] 210 first side wheel set, 211 second crossbeam, first side wheel 212

[0034] 300 vehicle body, 301 long side, 302 short side, 303 first mounting plate, 304 second mounting plate, 305 long strip, 306 rectangular frame, 307 electric control box, 308 solar panel, 310 rolling brush

[0035] 311 transmission shaft, 312 first gear, 313 sensor, 320 first power mechanism

[0036] 321 first driving wheel, 322 first wheel motor, 323 second gear, 324 third gear, 325 fourth gear, 326 first chain, 327 second axle, 328 first power output shaft

[0037] 330 second power mechanism, 331 second driving wheel, 332 second wheel motor 332, 333 third axle, 334 second power output shaft, 340 fifth gear, 341 sixth gear

[0038] 342 second chain, 350 second side wheel set, 351 second side wheel, 360 third side wheel

[0039] 370 driven wheel

[0040] 410 first photovoltaic module, 420 second photovoltaic module, 430 gap DETAILED DESCRIPTION

[0041] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of the present application. In addition, it should be understood that the specific implementation described herein is only used to illustrate and explain the present application, and is not used to limit the present application. In the present application, the orientation words such as "upper", "lower", "left", "right" generally refer to the upper, lower, left and right of the device in the actual use or working state, and specifically refer to the direction of the drawing surface in the drawings.

[0042] As shown in Figures 1-2 The present application also provides a robot 100, which comprises an arm support 200 and a vehicle body 300. The vehicle body 300 is in a strip shape, comprising two long sides 301 and two short sides 302. A first mounting plate 303 and a second mounting plate 304 are arranged on the two short sides 302 respectively. The connecting piece 204 of the arm support 200 is detachably connected to the side wall of the vehicle body 300 through the fastener 208. In the embodiment, the fastener 208 is a bolt.

[0043] In the embodiment, when there is a gap 430 between the first photovoltaic module 410 and the second photovoltaic module 420, the robot 100 can realize autonomous crossing of the gap 430. During the process of the robot 100 traveling on the surface of the photovoltaic module, the surface of the photovoltaic module can be regularly cleaned to ensure the power generation efficiency of the photovoltaic module.

[0044] As shown in Figure 2 The arm support 200 comprises a cross beam 201, a first wheel 202 and a second wheel 203.

[0045] The first end 205 of the cross beam is provided with the connecting piece 204. The first wheel 202 is rotatably mounted below the second end 206 of the cross beam. The second wheel 203 is rotatably mounted below the middle section of the cross beam 201. The second wheel 203 comprises a first axle 207. The central axis of the second wheel 202 is parallel to the central axis of the first wheel 203.

[0046] Further, the arm support 200 further comprises a first side wheel set 210, which comprises a second cross beam 211 and at least one first side wheel 212. The second cross beam 211 is detachably connected to the cross beam 201. The second cross beam 211 is located below one side of the cross beam 201. The extension direction of the second cross beam 211 is consistent with that of the cross beam 201. The first side wheel 212 is rotatably mounted below the second cross beam 211. The central axis of the first side wheel 212 is perpendicular to the central axis of the first wheel 202.

[0047] In the embodiment, the first side wheel set 210 is mounted to the crossbeam 201 at either end of the vehicle body 300, so as to prevent the robot 100 from falling off the inclined photovoltaic module.

[0048] As shown in Figure 2 As shown in Figure 4 The robot 100 further comprises at least one sensor 313 and a rolling brush 310. The sensor 313 is arranged on the bottom of the vehicle body 300 and can determine whether the robot 100 stays on the surface of the photovoltaic module. The rolling brush 310 comprises a transmission shaft 311 and a first gear 312. One end of the transmission shaft 311 penetrates through the first mounting plate 303 and extends to the side of the first mounting plate 303 away from the second mounting plate 304. The other end of the transmission shaft 311 penetrates through the second mounting plate 304 and extends to the side of the second mounting plate 304 away from the first mounting plate 303. The transmission shaft 311 at the other end is rotatably mounted to the second mounting plate 304. The first gear 312 is arranged on the side of the first mounting plate 303 away from the second mounting plate 304 and is fixed to the transmission shaft 311. The rolling brush 310 is used for cleaning the surface of the photovoltaic module.

[0049] As shown in Figure 3 The vehicle body 300 comprises a long plate 305, a rectangular frame 306 and at least one solar panel 308. The solar panel 308 and the long plate 305 are mounted to the top of the rectangular frame 306. An electric control box 307 is mounted on the long plate 305 and is fixedly connected to the rectangular frame 306. The top of the electric control box 307 protrudes from the long plate 305. The solar panel 308 can convert solar energy into electric energy to continuously supply power to the electric control box 307.

[0050] As shown in Figures 4-6 The robot 300 further comprises a first power mechanism 320 mounted to the side of the first mounting plate 303. The first power mechanism 320 comprises a first driving wheel 321, a first wheel motor 322, a second gear 323, a third gear 324, a fourth gear 325 and a first chain 326.

[0051] The first drive wheel 321 is rotatably mounted to the side of the first mounting plate 303 facing the second mounting plate 304; the first drive wheel 321 includes a second wheel axle 327, which passes through the first mounting plate 303 and extends to the side of the first mounting plate 303 opposite to the second mounting plate 304; the travel direction of the first drive wheel 321 is perpendicular to the extension direction of the robot 100; the first wheel motor 322 is mounted to the side of the first mounting plate 303 facing the second mounting plate 304; the wheel motor 302 includes a first power output shaft 328, which passes through the first mounting plate 303 and extends to the side of the first mounting plate 303 opposite to the second mounting plate 304; the second tooth Wheel 323 is located on the side of the first mounting plate 303 opposite to the second mounting plate 304 and is fixed to the second wheel axle 327; third gear 324 is located on the side of the first mounting plate 303 opposite to the second mounting plate 304 and is fixed to the first power output shaft 328; fourth gear 325 is located on the side of the first mounting plate 303 opposite to the second mounting plate 304 and is fixed to the first power output shaft 328, third gear 324 is located between fourth gear 325 and first mounting plate 303, and fourth gear 324 meshes with first gear 312; first chain 326 is sleeved on second gear 323 and third gear 324 and meshes with second gear 323 and third gear 324.

[0052] like Figure 7 As shown, the robot 100 also includes a second power mechanism 330, which is mounted on one side of the second mounting plate 304. The second power mechanism 330 includes a second drive wheel 331, a second wheel motor 332, a second gear 323, a third gear 324, and a first chain 326.

[0053] The second drive wheel 331 is rotatably mounted to the side of the second mounting plate 304 facing the first mounting plate 303; the second drive wheel 331 includes a third wheel axle 333, which passes through the second mounting plate 304 and extends to the side of the second mounting plate 304 opposite to the first mounting plate 303; the traveling direction of the second drive wheel 331 is perpendicular to the extending direction of the robot 100; the second wheel motor 332 is mounted to the side of the second mounting plate 304 facing the first mounting plate 303; the second wheel motor 332 includes a second power output shaft 334, a second drive... The power output shaft 334 passes through the second mounting plate 304 and extends to the side of the second mounting plate 304 opposite to the first mounting plate 303; the second gear 323 is disposed on the side of the second mounting plate 304 opposite to the first mounting plate 303 and is fixed to the third wheel axle 333; the third gear 324 is disposed on the side of the second mounting plate 304 opposite to the first mounting plate 303 and is fixed to the second power output shaft 334; the first chain 326 is sleeved on the second gear 323 and the third gear 324 and meshes with the second gear 323 and the third gear 324.

[0054] For example Figure 6 As shown in FIG. 3, the robot 100 further comprises a fifth gear 340, a sixth gear 341, a second chain 342, and a second side wheel set 350. The fifth gear 340 is arranged at one end of the second axle 327 away from the first mounting plate 303 and is fixed to the second axle 327; the sixth gear 341 is arranged at one end of the first axle 207 away from the first mounting plate 303 and is fixed to the first axle 207; the second chain 342 is sleeved to the fifth gear 340 and the sixth gear 341 and is engaged with the fifth gear 340 and the sixth gear 341; the second side wheel set 350 comprises two second side wheels 351, the second side wheel set 350 is fixed to the bottom of the first power mechanism 320, and the central axis of the second side wheel 351 is perpendicular to the central axis of the first driving wheel 321.

[0055] As shown in FIG. 3, the robot 100 further comprises a fifth gear 340, a sixth gear 341, a second chain 342, and a second side wheel set 350. The fifth gear 340 is arranged at one end of the second axle 327 away from the first mounting plate 303 and is fixed to the second axle 327; the sixth gear 341 is arranged at one end of the first axle 207 away from the first mounting plate 303 and is fixed to the first axle 207; the second chain 342 is sleeved to the fifth gear 340 and the sixth gear 341 and is engaged with the fifth gear 340 and the sixth gear 341; the second side wheel set 350 comprises two second side wheels 351, the second side wheel set 350 is fixed to the bottom of the first power mechanism 320, and the central axis of the second side wheel 351 is perpendicular to the central axis of the first driving wheel 321. Figure 8 As shown in FIG. 3, the robot 100 further comprises a fifth gear 340, a sixth gear 341, a second chain 342, and a second side wheel set 350. The fifth gear 340 is arranged at one end of the second axle 327 away from the first mounting plate 303 and is fixed to the second axle 327; the sixth gear 341 is arranged at one end of the first axle 207 away from the first mounting plate 303 and is fixed to the first axle 207; the second chain 342 is sleeved to the fifth gear 340 and the sixth gear 341 and is engaged with the fifth gear 340 and the sixth gear 341; the second side wheel set 350 comprises two second side wheels 351, the second side wheel set 350 is fixed to the bottom of the first power mechanism 320, and the central axis of the second side wheel 351 is perpendicular to the central axis of the first driving wheel 321.

[0056] Figure 1 As shown in FIG. 3, the robot 100 further comprises a fifth gear 340, a sixth gear 341, a second chain 342, and a second side wheel set 350. The fifth gear 340 is arranged at one end of the second axle 327 away from the first mounting plate 303 and is fixed to the second axle 327; the sixth gear 341 is arranged at one end of the first axle 207 away from the first mounting plate 303 and is fixed to the first axle 207; the second chain 342 is sleeved to the fifth gear 340 and the sixth gear 341 and is engaged with the fifth gear 340 and the sixth gear 341; the second side wheel set 350 comprises two second side wheels 351, the second side wheel set 350 is fixed to the bottom of the first power mechanism 320, and the central axis of the second side wheel 351 is perpendicular to the central axis of the first driving wheel 321.

[0057] ​In the application scenario, for example, the electric control box 307 controls the first power mechanism 320 and the second power mechanism 330 to start synchronously, the electric control box 307 controls the first wheel motor 322 and the second wheel motor 332 to start synchronously, at this time, the first power output shaft 328 of the first wheel motor 322 and the second power output shaft 334 of the second wheel motor 332 start to rotate, taking the running process of the first power mechanism 320 as an example, the first power output shaft 328 rotates to drive the third gear 324 and the fourth gear 325 to rotate, the fourth gear 325 rotates to drive the first gear 312 to rotate, the first gear 312 rotates to drive the transmission shaft 311 to rotate, the transmission shaft 311 rotates to make the rolling brush 310 start to rotate, the third gear 324 rotates to drive the second gear 323 to rotate through the first chain 326, the second gear 323 rotates to drive the second shaft 327 of the first driving wheel 321 to rotate, and then the first driving wheel 321 starts to rotate, the first driving wheel 321 can drive the vehicle body 300 to move on the photovoltaic module, in the process of moving on the photovoltaic module, the rotating rolling brush 310 can clean the photovoltaic module passed by the robot 100, when the first driving wheel 321 starts to rotate, the fifth gear 340 installed on the second shaft 327 starts to rotate, the fifth gear 340 rotates to drive the sixth gear 341 to rotate through the second chain 342, the sixth gear 341 rotates to drive the first shaft 207 to rotate, the first shaft 207 rotates to drive the second wheel 203 to rotate, the second wheel 203 rotates synchronously with the first driving wheel 321, drives the vehicle body 300 and the arm support 200 to move on the photovoltaic module, and then the robot 100 can move on the photovoltaic module and clean the photovoltaic module, the running process of the second power mechanism 330 is consistent with the running process of the first power mechanism 320, which will not be described here.

[0058] When the robot 100 needs to cross from the first photovoltaic module 410 to the second photovoltaic module 420, the arm support 200 first crosses the gap between the two photovoltaic modules, at this time the first wheel 202 reaches the surface of the second photovoltaic module 420 first, and the power provided by the first driving wheel 321 and the second driving wheel 331 drives the first wheel 202 to continue to rotate, so that the robot 100 can continue to move towards the second photovoltaic module 420, when the second wheel 203 crosses the gap between the two photovoltaic modules, the power provided by the first driving wheel 321 and the second driving wheel 331 drives the second wheel 203 to reach the surface of the second photovoltaic module 420, when the vehicle body 300 starts to cross the gap between the two photovoltaic modules, the arm support 200 on one side of the vehicle body 300 extends above the first photovoltaic module 410, and the arm support 200 on the other side of the vehicle body 300 extends above the second photovoltaic module 420, at this time the power provided by the second wheel 203 on the arm support 200 on both sides of the vehicle body 300 drives the robot 100 to continue to move towards the second photovoltaic module 420, until the vehicle body 300 crosses the gap, when the vehicle body 300 moves onto the surface of the second photovoltaic module 420, the center of gravity of the robot 100 is already on the second photovoltaic module 420, at this time the robot 100 has completed the crossing between different photovoltaic modules.

[0059] The advantage of the present application is to provide an arm support and a robot, the robot comprising a vehicle body and an arm support, the arm support comprising a crossbeam, a first wheel and a second wheel, the connecting piece of the arm support being detachably connected to the side wall of the vehicle body by a fastener, the first wheel being rotatably mounted below the second end of the crossbeam; the second wheel comprising a first axle, being rotatably mounted below the middle section of the crossbeam, the second wheel being connected to the driving wheel of the vehicle body through a chain transmission, the driving wheel being driven by a motor to drive the arm support and the vehicle body to move between photovoltaic modules, when the robot needs to cross between two photovoltaic modules, the first wheel set on the arm support will first cross the obstacle to reach another photovoltaic module to provide a force point, when the first wheel set crosses the obstacle to reach another photovoltaic module, the second wheel and the driving wheel provide the power to drive the robot to autonomously cross the photovoltaic modules with a spacing space, avoiding manual movement of the robot, saving labor cost and time cost.

[0060] The above provides a detailed introduction to the arm support and the robot of the present application, specific examples are applied in this paper to explain the principles and implementation modes of the present application, the above description of the examples is only used to help understand the method and its core idea of the present application; at the same time, for those skilled in the art, according to the idea of the present application, the specific implementation mode and application range will be changed, and the above description should not be understood as a limitation of the present application.

Claims

1. An arm support, characterized in that, comprising: a beam, a first end of which is provided with a connecting member; a first wheel rotatably mounted below a second end of the beam; and a second wheel comprising a first axle, rotatably mounted below a middle section of the beam, a central axis of the second wheel being parallel to a central axis of the first wheel. further comprising:

2. The arm as claimed in claim 1, characterized in that a first side wheel set, the first side wheel set comprising: a second beam detachably connected to the beam, the second beam being located below one side of the beam, an extension direction of the second beam being consistent with the beam; and at least one first side wheel rotatably mounted below the second beam, a central axis of the first side wheel being perpendicular to the central axis of the first wheel. comprising:

3. A robot, characterized in that two or more arm supports according to claim 1 or 2; and a vehicle body in a strip shape comprising two long sides and two short sides, a first mounting plate and a second mounting plate being respectively arranged on the two short sides, the connecting member of the arm support being detachably connected to a side wall of the vehicle body by a fastener. further comprising at least one sensor distributed on a bottom of the vehicle body; and 4. The robot of claim 3, wherein, a rolling brush, the rolling brush comprising: a transmission shaft, one end of the transmission shaft passing through the first mounting plate and extending to a side of the first mounting plate away from the second mounting plate, the other end of the transmission shaft passing through the second mounting plate and extending to a side of the second mounting plate away from the first mounting plate; and a first gear provided on the side of the first mounting plate away from the second mounting plate and fixed to the transmission shaft.

5. The robot according to claim 3, wherein the vehicle body comprises a strip plate, a rectangular frame, and at least one solar panel, the solar panel and the strip plate being mounted on a top of the rectangular frame, an electric control box being mounted on the strip plate, the electric control box being fixedly connected between the rectangular frame, and a top of the electric control box protruding from the strip plate. further comprising a first power mechanism mounted on a side of the first mounting plate, the first power mechanism comprising: a first driving wheel rotatably mounted on a side of the first mounting plate facing the second mounting plate, the first driving wheel comprising a second axle passing through the first mounting plate and extending to a side of the first mounting plate away from the second mounting plate, a running direction of the first driving wheel being perpendicular to an extension direction of the robot; a first wheel motor mounted on a side of the first mounting plate facing the second mounting plate, the wheel motor comprising a first power output shaft passing through the first mounting plate and extending to a side of the first mounting plate away from the second mounting plate; 6. The robot of claim 4, wherein, a second gear provided on the side of the first mounting plate away from the second mounting plate and fixed to the second axle; a third gear provided on the side of the first mounting plate away from the second mounting plate and fixed to the first power output shaft. ​ ​ ​ ​ a fourth gear disposed on a side of the first mounting plate away from the second mounting plate and fixed to the first power output shaft, the third gear disposed between the fourth gear and the first mounting plate, the fourth gear meshing with the first gear; and a first chain disposed around and meshing with the second gear and the third gear.

7. The robot of claim 6, wherein, Further comprising a second power mechanism mounted to a side of the second mounting plate, the second power mechanism comprising: a second driving wheel rotatably mounted to a side of the second mounting plate facing the first mounting plate, the second driving wheel comprising a third axle passing through the second mounting plate and extending to a side of the second mounting plate away from the first mounting plate, the direction of travel of the second driving wheel being perpendicular to the direction of extension of the robot; a second wheel motor mounted to a side of the second mounting plate facing the first mounting plate, the second wheel motor comprising a second power output shaft passing through the second mounting plate and extending to a side of the second mounting plate away from the first mounting plate; a second gear disposed on a side of the second mounting plate away from the first mounting plate and fixed to the third axle; a third gear disposed on a side of the second mounting plate away from the first mounting plate and fixed to the second power output shaft; and a first chain disposed around and meshing with the second gear and the third gear.

8. The robot of claim 6, wherein, Further comprising a fifth gear disposed on an end of the second axle away from the first mounting plate and fixed to the second axle; a sixth gear disposed on an end of the first axle away from the first mounting plate and fixed to the first axle; a second chain disposed around and meshing with the fifth gear and the sixth gear; and a second side wheel set comprising two second side wheels, the second side wheel set fixed to a bottom of the first power mechanism, the central axis of the second side wheels being perpendicular to the central axis of the first driving wheel. Further comprising 9. The robot of claim 7, wherein, a fifth gear disposed on an end of the third axle away from the second mounting plate and fixed to the third axle; a sixth gear disposed on an end of the first axle away from the second mounting plate and fixed to the first axle; a second chain disposed around and meshing with the fifth gear and the sixth gear; and a third side wheel fixed to a bottom of the second power mechanism, the central axis of the third side wheel being perpendicular to the central axis of the first driving wheel. Further comprising a driven wheel mounted to a bottom of the vehicle body, the driven wheel disposed at a middle portion of the vehicle body.

10. The robot of claim 3, wherein, ​ ​

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